From 351753cafcf58a6a55d4339a5e16ff9d504f05e4 Mon Sep 17 00:00:00 2001
From: Griffin <lamb.griffin@icloud.com>
Date: Tue, 19 Mar 2024 18:26:44 -0400
Subject: [PATCH 1/2] added moving the lift down at start of auton before
 moving it up

---
 src/main/java/frc/robot/Robot.java | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 0b81a0f0..975ff1ad 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -10,9 +10,11 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.autons.Auton;
 import frc.robot.autons.AutonSelector;
+import frc.robot.commands.LiftDownCommand;
 import frc.robot.commands.LiftUpCommand;
 import frc.robot.constants.SwerveModuleConstants;
 import frc.robot.subsystems.Dashboard;
@@ -70,7 +72,9 @@ public void disabledExit() {
 
     @Override
     public void autonomousInit() {
-        new LiftUpCommand().schedule();
+        new SequentialCommandGroup(
+                new LiftDownCommand(),
+                new LiftUpCommand()).schedule();
         driveTrain.zeroHeading();
         autonomousCommand = autonSelector.chooseAuton();
         // if (DriverStation.isFMSAttached()) {

From e1a2ce86652562c9bdec6076de7b2ffb19373ada Mon Sep 17 00:00:00 2001
From: Griffin <lamb.griffin@icloud.com>
Date: Tue, 19 Mar 2024 18:45:04 -0400
Subject: [PATCH 2/2] fixed method name and added if >and =

---
 src/main/java/frc/robot/commands/LiftUpCommand.java | 2 +-
 src/main/java/frc/robot/subsystems/Lift.java        | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/LiftUpCommand.java b/src/main/java/frc/robot/commands/LiftUpCommand.java
index 04b71c21..7c3c43ce 100644
--- a/src/main/java/frc/robot/commands/LiftUpCommand.java
+++ b/src/main/java/frc/robot/commands/LiftUpCommand.java
@@ -24,7 +24,7 @@ public void execute() {
 
     @Override
     public boolean isFinished() {
-        return !lift.isLiftUp();
+        return lift.isLiftUp();
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/Lift.java b/src/main/java/frc/robot/subsystems/Lift.java
index 45570aad..7ae301dd 100644
--- a/src/main/java/frc/robot/subsystems/Lift.java
+++ b/src/main/java/frc/robot/subsystems/Lift.java
@@ -142,8 +142,8 @@ public void runRightUp() {
     }
 
     public boolean isLiftUp() {
-        return rightLiftEncoder.getPosition() < LiftConstants.maxExtension
-                && leftLiftEncoder.getPosition() < LiftConstants.maxExtension;
+        return rightLiftEncoder.getPosition() >= LiftConstants.maxExtension
+                && leftLiftEncoder.getPosition() >= LiftConstants.maxExtension;
     }
 
     public boolean isRightLiftUp() {